基于遗传算法的脱模机转动系统最优控制器设计
熊澳，王琦*
（武汉工程大学 机电工程学院，湖北 武汉 430000）
摘要：混凝土试块脱模机是一款全自动化实验设备，其中脱模机的转动控制系统是设备运行的重要组成部分。为提高脱模机转动系统的角度控制能力，本文基于最优控制理论设计了一种脱模机转动控制器，并通过仿真实验验证了其有效性。结果显示，在2 s的时间内系统可以达到稳定状态。然而，应用此方法主要取决于Q、R加权矩阵的选择，通常需要反复试验才能获得满意的结果。为解决此问题，本文采用遗传算法来优化加权系数。通过实验仿真，成功将系统稳定时间缩短了1 s，达到了更快的稳定效果。研究结果表明，采用基于最优控制理论的脱模机转动控制器，结合遗传算法进行优化，可以有效提高脱模机转动系统的角度控制能力，缩短稳定时间，提高设备运行效率。
关键词：脱模机；转动系统；遗传算法；最优控制；角度控制
中图分类号：TP18 文献标志码：A doi：10.3969/j.issn.1006-0316.2024.01.010
文章编号：1006-0316 (2024) 01-0067-07
Design of LQR Controller Based on GA for Rotation System of Demoulding Machine
XIONG Ao，WANG Qi
( School of Mechanical Engineering, Wuhan Institute of Technology, Wuhan 430000, China )
Abstract：The concrete test block demoulding machine is a newly developed fully automated experimental device, and the rotating control system of the demoulding machine is an important component of the device operation. In order to improve the angle control of the demoulding machine's rotating system, this article designs a demoulding machine rotating controller based on optimal control theory, and verifies its effectiveness through simulation experiments. The results show that the system can reach a stable state within 2 seconds. However, the application of this method mainly depends on the selection of Q and R weighting matrices, and repeated trials are required to get satisfactory results. To solve this problem, this article adopts a genetic algorithm to optimize the weighting coefficients. Through the experimental simulations, the time length to stabilize the system is successfully reduced by 1 second. The research results demonstrate that using a demoulding machine rotating controller based on optimal control theory with the optimization through the genetic algorithm can effectively improve the angle control of the demoulding machine's rotating system, shorten the stable time and improve the efficiency of device operation.
Key words：demoulding machine；rotation system；genetic algorithm；optimal control；angle control
———————————————
收稿日期：2023-02-23
基金项目：国家自然科学基金（51375186）；湖北省教育厅重点科研项目（D20161506）；湖北省教育厅科学技术研究计划指导性项目（B2021085）；化工装备强化与本质安全湖北省重点实验室开放研究基金资助课题（2021KA03）
作者简介：熊澳（1999－），男，湖北天门人，硕士研究生，主要研究方向为脱模机的运动控制等，E-mail：2577990834@qq.com。*通讯作者：王琦（1997－），男，河南信阳人，硕士研究生，主要研究方向为脱模机的运动控制等，E-mail：834072256@qq.com。
（武汉工程大学 机电工程学院，湖北 武汉 430000）
摘要：混凝土试块脱模机是一款全自动化实验设备，其中脱模机的转动控制系统是设备运行的重要组成部分。为提高脱模机转动系统的角度控制能力，本文基于最优控制理论设计了一种脱模机转动控制器，并通过仿真实验验证了其有效性。结果显示，在2 s的时间内系统可以达到稳定状态。然而，应用此方法主要取决于Q、R加权矩阵的选择，通常需要反复试验才能获得满意的结果。为解决此问题，本文采用遗传算法来优化加权系数。通过实验仿真，成功将系统稳定时间缩短了1 s，达到了更快的稳定效果。研究结果表明，采用基于最优控制理论的脱模机转动控制器，结合遗传算法进行优化，可以有效提高脱模机转动系统的角度控制能力，缩短稳定时间，提高设备运行效率。
关键词：脱模机；转动系统；遗传算法；最优控制；角度控制
中图分类号：TP18 文献标志码：A doi：10.3969/j.issn.1006-0316.2024.01.010
文章编号：1006-0316 (2024) 01-0067-07
Design of LQR Controller Based on GA for Rotation System of Demoulding Machine
XIONG Ao，WANG Qi
( School of Mechanical Engineering, Wuhan Institute of Technology, Wuhan 430000, China )
Abstract：The concrete test block demoulding machine is a newly developed fully automated experimental device, and the rotating control system of the demoulding machine is an important component of the device operation. In order to improve the angle control of the demoulding machine's rotating system, this article designs a demoulding machine rotating controller based on optimal control theory, and verifies its effectiveness through simulation experiments. The results show that the system can reach a stable state within 2 seconds. However, the application of this method mainly depends on the selection of Q and R weighting matrices, and repeated trials are required to get satisfactory results. To solve this problem, this article adopts a genetic algorithm to optimize the weighting coefficients. Through the experimental simulations, the time length to stabilize the system is successfully reduced by 1 second. The research results demonstrate that using a demoulding machine rotating controller based on optimal control theory with the optimization through the genetic algorithm can effectively improve the angle control of the demoulding machine's rotating system, shorten the stable time and improve the efficiency of device operation.
Key words：demoulding machine；rotation system；genetic algorithm；optimal control；angle control
———————————————
收稿日期：2023-02-23
基金项目：国家自然科学基金（51375186）；湖北省教育厅重点科研项目（D20161506）；湖北省教育厅科学技术研究计划指导性项目（B2021085）；化工装备强化与本质安全湖北省重点实验室开放研究基金资助课题（2021KA03）
作者简介：熊澳（1999－），男，湖北天门人，硕士研究生，主要研究方向为脱模机的运动控制等，E-mail：2577990834@qq.com。*通讯作者：王琦（1997－），男，河南信阳人，硕士研究生，主要研究方向为脱模机的运动控制等，E-mail：834072256@qq.com。
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